flexiv::rdk::RtJointPositionCmd Struct Reference

Commands data for real-time joint position control. More...

#include <data.hpp>

Public Member Functions
	RtJointPositionCmd ()=default
	RtJointPositionCmd (const std::vector< double > &q_d, const std::vector< double > &dq_d, const std::vector< double > &ddq_d)

Public Attributes
std::vector< double >	q_d = {}
std::vector< double >	dq_d = {}
std::vector< double >	ddq_d = {}

Detailed Description

Commands data for real-time joint position control.

See also

Robot::StreamJointPosition().

Definition at line 659 of file data.hpp.

Constructor & Destructor Documentation

RtJointPositionCmd() [1/2]

flexiv::rdk::RtJointPositionCmd::RtJointPositionCmd ( )

default

Default constructor

RtJointPositionCmd() [2/2]

flexiv::rdk::RtJointPositionCmd::RtJointPositionCmd ( const std::vector< double > &  q_d, const std::vector< double > &  dq_d, const std::vector< double > &  ddq_d  )

inline

Custom constructor

Definition at line 665 of file data.hpp.

Member Data Documentation

ddq_d

std::vector<double> flexiv::rdk::RtJointPositionCmd::ddq_d = {}

Target joint accelerations: \( \ddot{q}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s^2] \)

Definition at line 682 of file data.hpp.

dq_d

std::vector<double> flexiv::rdk::RtJointPositionCmd::dq_d = {}

Target joint velocities: \( \dot{q}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \)

Definition at line 678 of file data.hpp.

q_d

std::vector<double> flexiv::rdk::RtJointPositionCmd::q_d = {}

Target joint positions: \( q_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \)

Definition at line 674 of file data.hpp.

---

The documentation for this struct was generated from the following file:

• include/flexiv/rdk/data.hpp